Micromouse is a world famous robotics competition where a small robot has to search, solve and speedrun a 16x16 maze. I joined a team with my two good friends Ricardo Alcaraz and Roswell Tiongco to attempt to build CSULB's best mouse yet.

Mouse in Maze

First Attempt

Above you can see a short video of our first robot in action.

We wanted to create a very simple, easy to develop robot for our first attempt without worrying too much about speed. This is why we decided to use stepper motors, an arduino teensy and ultrasonic sensors. In hindsight, these were poor hardware choices but A LOT was learned in the process of developing this cute little tractor.

The main issue with the hardware is that the only input to the control system is the ultrasonic sensor readings. The ultrasonic measurements are too low resolution and lack the stability to base a reliable control system on. As a result, the robot only makes the end of the maze if we're lucky enough that it doesn't hit any walls.

2017/2018 Github Repository


The Real Deal

Using the experience and knowledge acquired developing the last robot, we are currently building (what will hopefully be) a very fast robot.


v2.0 (cancelled) v3.0
Width 75mm 75mm
Length 105mm (excluding "tail") 105mm
Weight n/a TBD
Tires Kyosho MZT301-20 LM Kyosho MZT301-20 LM (available on Ebay)
CPU Tensilica Xtensa LX6 (in ESP-WROOM-32 module) STM32F405RG
MCU features 160/240MhHz, 520KiB SRAM, Wi-Fi 802.11 b/g/n, Bluetooth v4.2 BR/DER and BLE 160Mhz, 192+4 Kbytes SRAM, 1MB Flash. 9 GPIO Ports of up to 16 pins each.
Power Regulation TPS65400 - 5v 5A, 5V 4A, 2V 2A, 3.3V 0.5A, TPS61088 - 12V Boost TPS65400 - 5v 5A, 5V 4A, 2V 2A, 3.3V 0.5A, TPS61088 - 12V Boost
Battery Tattu 300mAh 7.4V 45C 2S1P LiPo Tattu 300mAh 7.4V 45C 2S1P LiPo
IR Emitters/Receivers SFH4550/TEFT4300 SFH4550/TEFT4300
Gyroscope MPU-6500 MPU-6500
Display 0.96 inch SSD1306 128x64 yellow/blue OLED 0.96 inch SSD1306 128x64 yellow/blue OLED
Motors/Encoders n/a Testing in progress
Ground effect fan n/a Testing in progress


Full schematic pdf

2019 Github Repository